Complex mechanical design requires flexible simulation tools that can bridge the gap between physical modeling and advanced control systems. In this video, we explore Planar Mechanics, an upcoming component library in Dyad designed for high-fidelity modeling of mechanical systems in the XY plane.
We walk through the capabilities of this new library across three increasingly complex use cases:
A Classical Pendulum: Setting up the foundational environment using the World component, Revolute joints, and body masses.
A Planar Car Simulation: Coordinating four wheels, steering-linked Revolute joints, differential gearing, and engine torque on a 2D plane.
An Inverted Pendulum (Self-Balancing Robot): Demonstrating the seamless interplay between physical plant models and Diad’s control systems.
Watch a side-by-side comparison of two control strategies for the self-balancing robot. First, we test a standard cascade PID architecture, tracking its transient overshoots. Then, we implement a state-space reference generator with automatic torque feedforward designed by Diad Control Systems—taking the system's non-minimum phase properties into account to deliver crisper, ultra-tight trajectory tracking.
